#ifndef __RUN_
#define __RUN_


#include "pid.h"
#include "bsp_can.h"

void run_speed(int speed1,int speed2,int speed3,int speed4);
void run_speed1(int speed1,int speed2,int speed3,int speed4);
void run_pos(int pos1,int pos2,int pos3,int pos4);
void run_pos1(int pos1,int pos2,int pos3,int pos4);
void run_pos2(int pos1,int pos2,int pos3,int pos4);
void run_speed_fight(int speed1,int speed2,int speed3,int speed4);
void run_speed_avoid(int speed1,int speed2,int speed3,int speed4);
void run_speed11(int speed1,int speed2,int speed3,int speed4);
void run_speed_turn(int speed1,int speed2,int speed3,int speed4);
void run_speed_turnaround(int speed1,int speed2,int speed3,int speed4);
void run_speed_fight1(int speed1,int speed2,int speed3,int speed4);
void turn_pos(int pos1,int pos2,int pos3,int pos4);
void run_speed22(int speed1,int speed2,int speed3,int speed4,int t);
void speed_turning_clock_90(int speed);
void speed_turning_anticlock_90(int speed);

 void pid_set_pos_forward();	
 void pid_set_pos_angle_clo();
 void pid_set_pos_angle_anticlo();
 void pid_set_speed_forward();
 void pid_set_speed_forward1();
 void pid_set_pos_back();
 void pid_set_pos_back1();
 void pid_set_speed_back();
 void pid_set_speed_turnning_clock();
 void pid_set_speed_turnning_anticlock();
 
 void speed_forward(int speed);
 void speed_push(int speed);
 void pos_forward(int pos);
 void pos_back(int pos);
 void pos_anticlock(int pos);
 void pos_clock(int pos);
 void pos_clock1(int pos);
 void pos_anticlock1(int pos);
 void run_speedlow(int speed);
 void push_speedlow(int speed);
 void pos_back1(int pos);
 void run_avoid(int speed);
 void speed_fight(int speed);
 void speed_back_avoid(int speed);
 void speed_forward1(int speed);
void pos_back2(int pos);
void speed_forward2(int speed);
void speed_fight1(int speed);
void speed_back(int speed);
void speed_turning_anticlock(int speed);
void speed_turning_clock(int speed);
	 
#endif
